A new type of humanoid robot

Abstract

The utility model provides a novel humanoid robot, including head mechanism, upper limb mechanism, waist mechanism, upper arm mechanism, small arm mechanism, hand mechanism, hip mechanism, thigh mechanism, small leg mechanism and foot mechanism, there is first swing mechanism and first plane rotary mechanism between upper arm mechanism and upper limb mechanism, there is second swing mechanism between small arm mechanism and upper arm mechanism, there is third swing mechanism between hand mechanism and small arm mechanism, there is fourth swing mechanism and second plane rotary mechanism between waist mechanism and upper limb mechanism, hip mechanism and waist mechanism lower end fixed connection, there is fifth swing mechanism and third plane rotary mechanism between thigh mechanism and hip mechanism, there is sixth swing mechanism between thigh mechanism and small leg mechanism, there is seventh swing mechanism between small leg mechanism and foot mechanism. The utility model discloses a robot, utilizes swing mechanism and plane rotary mechanism cooperation to complete the complex action of robot.

Description

Technical Field

[0001] This utility model relates to the field of robot equipment, and in particular to a new type of humanoid robot. Background Technology

[0002] Humanoid robots are currently developing rapidly and have a broad market prospect. They can be applied to daily life and production, and in some fields, they can even completely replace humans in independent work, thus alleviating the pressure of an aging society. However, existing humanoid robots generally suffer from problems such as complex body structures and complex motor-driven joint movement schemes, which hinder the production and promotion of humanoid robots. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a new type of humanoid robot with a simple body structure. Through the swing mechanism and planar rotation mechanism between the main components, the humanoid robot can perform complex actions by superimposing the movements of the swing mechanism and planar rotation mechanism between the components.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A novel humanoid robot includes a control system and a body. The body includes a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a lower leg mechanism, and a foot mechanism. The head mechanism is located on the upper limb mechanism. There are two upper arm mechanisms, which are respectively located on both sides of the upper limb mechanism. Each upper arm mechanism has a forearm mechanism at its lower end, and the lower end of the forearm mechanism is connected to the hand mechanism. The waist mechanism and hip mechanism are arranged sequentially from top to bottom on the lower part of the upper limb mechanism. There are two thigh mechanisms, which are spaced apart on the lower part of the hip mechanism. Each thigh mechanism has a lower leg mechanism at its lower end, and the lower end of the lower leg mechanism is connected to the foot mechanism. The length direction of the upper limb mechanism is defined as the Y-axis direction, and the width direction of the upper limb mechanism is defined as the X-axis direction.

[0006] A first swing mechanism and a first planar rotation mechanism are provided between the upper arm mechanism and the upper limb mechanism, so that the upper arm mechanism can move relative to the upper limb mechanism in the XYZ directions.

[0007] A second swing mechanism is provided between the forearm mechanism and the upper arm mechanism, allowing the forearm mechanism to move relative to the upper arm mechanism in both the X and Z directions.

[0008] A third swing mechanism is provided between the hand mechanism and the forearm mechanism, allowing the hand mechanism to move relative to the forearm mechanism in both the X and Z directions;

[0009] A fourth swing mechanism and a second planar rotation mechanism are provided between the waist mechanism and the upper limb mechanism, so that the upper limb mechanism can move in the XYZ directions relative to the waist support.

[0010] The hip mechanism is fixedly connected to the waist mechanism;

[0011] A fifth swing mechanism and a third planar rotation mechanism are provided between the thigh mechanism and the hip mechanism, so that the thigh mechanism can move relative to the hip mechanism in the XYZ directions.

[0012] A sixth swing mechanism is provided between the thigh mechanism and the lower leg mechanism, which allows the lower leg mechanism to move relative to the thigh mechanism in both the X and Z directions.

[0013] A seventh swing mechanism is provided between the lower leg mechanism and the foot mechanism, allowing the foot mechanism to move relative to the lower leg mechanism in both the X and Z directions.

[0014] Compared with the prior art, the novel humanoid robot of this utility model has the following beneficial effects:

[0015] (1) The humanoid robot in this solution is structurally similar to humans, with a head mechanism, upper limb mechanism, waist mechanism, upper arm mechanism, forearm mechanism, hand mechanism, hip mechanism, thigh mechanism, lower leg mechanism and foot mechanism, which makes it easy for third-party personnel to perform secondary shape design based on this framework, making it closer to humanoid shape, reducing product development costs, and enabling component compatibility between humanoid robots with the same framework, thereby reducing product maintenance costs;

[0016] (2) In this scheme, swinging mechanisms and / or planar rotation mechanisms are set between the upper limb mechanism, waist mechanism, upper arm mechanism, forearm mechanism, hand mechanism, hip mechanism, thigh mechanism, lower leg mechanism and foot mechanism, so that the connecting joints of each component can realize movement in the XZ direction or movement in the XYZ direction. The design is simple, and by using the superposition of the swinging mechanism and planar rotation mechanism between each component, the humanoid robot can complete complex actions. The design is ingenious, the scheme for driving joint movement is simple, efficient and reliable, and can better imitate the many degrees of freedom that humans need to achieve in expressing actions.

[0017] (3) In this scheme, the seven swing mechanisms are all designed to achieve relative back-and-forth swing between two parts, so that the seven swing mechanisms can be designed to have the same structure (only the power output is different). The three planar rotation mechanisms are all designed to achieve relative axial rotation between two parts, and the three planar rotation mechanisms are also designed to have the same structure (only the power output is different), thereby improving the versatility of parts and simplifying the machine body structure.

[0018] (4) In this solution, the seven front and rear swinging mechanisms and the three planar rotation mechanisms are all hidden inside each component, which makes it easier to reduce the space occupied by the humanoid robot, improve the aesthetics of the humanoid robot, ensure that the humanoid robot meets the requirements of humanoidness, and is small in size and low in cost to meet the needs of industrial-grade industrialization applications.

[0019] (5) The humanoid robot of this solution completely solves the technical defects and problems of existing humanoid robots, such as numerous drive motors, non-compact structure, large joint volume, small load, high production cost, inconvenient maintenance, and short maintenance cycle.

[0020] Furthermore, the lower end of the upper limb mechanism is provided with a waist connection base;

[0021] The waist mechanism includes a waist support and a waist swing housing. The waist swing housing is rotatably connected to the waist support along an axis parallel to the y-axis. The waist support can swing relative to the front and rear ends of the waist swing housing. The waist swing housing can be rotatably connected to the waist connecting base around a vertical axis. The waist swing housing can rotate axially relative to the waist connecting base.

[0022] The fourth swing mechanism and the second planar rotation mechanism are mounted on the waist connecting base and are respectively connected to the waist support and the waist swing housing.

[0023] Furthermore, the hip mechanism is equipped with a hip support, which is fixedly connected to the lower end of the waist mechanism;

[0024] The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip support and are connected to the thigh mechanism via transmission.

[0025] Furthermore, the upper limb mechanism is provided with an upper arm connecting base on its side;

[0026] The upper arm mechanism includes a shoulder swing housing, a shoulder support, a shoulder joint, and an upper arm rotation joint. The shoulder joint is connected to the upper end of the upper arm rotation joint and is located at the lower end of the shoulder support. The shoulder swing housing is rotatably connected to the shoulder support about an axis parallel to the x-axis. The shoulder support is axially rotatable relative to the shoulder swing housing. The shoulder swing housing is rotatably connected to the upper arm connecting base about an axis parallel to the y-axis. The shoulder swing housing is axially rotatable relative to the upper arm connecting base.

[0027] The first swing mechanism and the first planar rotation mechanism are mounted on the upper arm connecting base and are respectively connected to the shoulder swing housing and the shoulder bracket for transmission.

[0028] Furthermore, the forearm mechanism includes an elbow swing housing, an elbow support, and a forearm rotation joint. The forearm rotation joint is located at the lower end of the elbow support. The elbow swing housing is fixedly connected to the upper arm mechanism. The elbow support is rotatably connected to the elbow swing housing around an axis parallel to the y-axis. The elbow support can swing relative to the front and rear ends of the elbow swing housing.

[0029] The second swing mechanism is located at the lower end of the upper arm mechanism and is connected to the elbow support via a transmission.

[0030] Furthermore, the hand mechanism includes a wrist swing housing, a wrist support, and a palm component. The palm component is located at the lower end of the wrist support. The wrist swing housing is fixedly connected to the lower end of the forearm mechanism. The wrist support is rotatably connected to the wrist swing housing around an axis parallel to the y-axis. The wrist support can swing relative to the front and rear ends of the wrist swing housing.

[0031] The third swing mechanism is located at the lower end of the forearm mechanism and is connected to the wrist support via a transmission.

[0032] Furthermore, the thigh mechanism includes a thigh swinging mechanism, a thigh support, and a thigh rotation joint. The thigh rotation joint is located at the lower end of the thigh support. The thigh swinging mechanism is rotatably connected to the thigh support about an axis parallel to the y-axis. The thigh support can swing relative to the front and rear ends of the thigh swinging mechanism. The thigh swinging mechanism is rotatably connected to the hip mechanism about a vertical axis. The thigh swinging mechanism can rotate axially relative to the hip mechanism.

[0033] The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip mechanism and are respectively connected to the hip swing housing and the hip support for transmission.

[0034] Furthermore, the lower leg mechanism includes a knee swing housing, a knee support, and a lower leg rotation joint. The lower leg rotation joint is located at the lower end of the knee support. The knee swing housing is fixedly connected to the thigh mechanism. The knee support is rotatably connected to the knee swing housing around an axis parallel to the y-axis. The knee support can swing relative to the front and rear ends of the knee swing housing.

[0035] The sixth swing mechanism is mounted on the thigh mechanism and is connected to the knee support via a transmission.

[0036] Furthermore, the foot mechanism includes an ankle swing housing, an ankle support, and a foot component. The ankle swing housing is fixedly connected to the lower leg mechanism. The ankle support is rotatably connected to the ankle swing housing about an axis parallel to the y-axis. The ankle support can swing relative to the front and rear ends of the ankle swing housing. The foot component is located at the lower end of the ankle support.

[0037] The seventh swing mechanism is mounted on the lower leg mechanism and is connected to the ankle support via a transmission.

[0038] In this design, the connections between the components are made by using component brackets and component swing housings connected by a horizontal / vertical axis. This cross structure allows each component to have a large degree of mobility, enabling the humanoid robot to have a large range of motion to achieve complex actions. At the same time, the cross structure has strong connection strength, thereby extending the structural strength of the connection between the components and avoiding affecting the humanoid robot's movement.

[0039] Furthermore, the foot components include a foot support, a floating base, and an elastic element;

[0040] The floating base is located below the foot support and is spaced apart from the foot support. The floating base and the foot support are vertically movably connected.

[0041] The elastic element is disposed between the floating base and the foot support.

[0042] The foot components, designed in the above manner, possess a certain degree of cushioning capability. On one hand, due to the differences between the left and right halves of the humanoid robot's body, this design of the foot components enables dynamic balance between the two halves, improving the stability of the robot's movement. On the other hand, since the humanoid robot needs to adapt to different ground environments, the foot components enable the robot to adapt to different ground environments. Furthermore, since the humanoid robot needs to maintain dynamic balance during movement, the foot components ensure that the lower part of the robot remains in a relatively stable state during movement. Attached Figure Description

[0043] Figure 1 This is a cross-sectional view of the robot;

[0044] Figure 2 It is a cross-sectional view of the arm;

[0045] Figure 3 This is an assembly diagram of the first swing mechanism, the first planar rotation mechanism, and the upper arm mechanism;

[0046] Figure 4 This is a first-angle sectional view after the first swing mechanism, the first planar rotation mechanism, and the upper arm mechanism are assembled;

[0047] Figure 5 This is a second-angle sectional view after the first swing mechanism, the first planar rotation mechanism, and the upper arm mechanism are assembled;

[0048] Figure 6 This is a third-angle sectional view after the first swing mechanism, the first planar rotation mechanism, and the upper arm mechanism are assembled;

[0049] Figure 7 This is an assembly diagram of the upper arm rotation joint, elbow swing mechanism, and elbow support;

[0050] Figure 8 This is a sectional view of the waist structure;

[0051] Figure 9 This is a cross-sectional view of the waist structure from another angle;

[0052] Figure 10 This is a schematic diagram of the hip mechanism;

[0053] Figure 11 This is a first-angle sectional view of the hip mechanism;

[0054] Figure 12 This is a second-angle sectional view of the hip mechanism;

[0055] Figure 13 This is a third-angle sectional view of the hip mechanism;

[0056] Figure 14 This is a sectional view of the legs;

[0057] Figure 15 This is a cross-sectional view of the foot component.

[0058] Label Explanation:

[0059] 1. Body; 2. Head mechanism; 3. Upper limb mechanism; 4. Waist connecting base; 5. Upper arm connecting base; 6. Waist mechanism; 7. Waist swing mechanism; 8. Upper arm mechanism; 9. Shoulder swing mechanism; 10. Shoulder support; 11. Shoulder joint; 12. Upper arm rotation joint; 13. Forearm mechanism; 14. Elbow swing mechanism; 15. Elbow support; 16. Forearm rotation joint; 17. Hand mechanism; 18. Wrist swing mechanism; 19. Wrist support; 20. Hand component; 21. Hip mechanism; 22. Hip support; 23. Thigh mechanism; 24. Hip swing mechanism; 25. Hip support; 26. Thigh rotation joint; 27. Lower leg mechanism; 28. Knee swing mechanism; 29. ​​Knee support; 30. Lower leg rotation joint; 31. Foot mechanism; 32. Ankle swing mechanism; 33. Ankle support; 34. Foot component; 35. Foot support; 36. Floating base; 37. Elastic component; 38. Floating connecting seat; 39. First motor; 40. First... Drive shaft 41, first swing drive gear 42, second motor 43, second drive shaft 44, third motor 46, third drive shaft 47, fourth motor 49, fourth drive shaft 50, fourth swing drive gear 51, fifth motor 52, fifth drive shaft 53, fifth swing drive gear 54, sixth motor 55, sixth drive shaft 56, seventh motor 58, seventh drive shaft 59, first swing shaft 61, second swing shaft 62, third swing shaft 63, fourth swing shaft 64, fifth swing shaft 65, sixth swing shaft 66, seventh swing shaft 67, first rotary motor 68, first rotary drive gear 69, second rotary motor 71, second rotary drive gear 72, third rotary motor 74, third rotary drive gear 75, bevel gear 76, steering gear 77, upper arm rotation motor 78, forearm rotation motor 79, elastic support 80, upper chest box 81, lower chest box 82. Detailed Implementation

[0060] The embodiments of this utility model are described below with reference to the accompanying drawings:

[0061] See Figures 1 to 15 This embodiment of a novel humanoid robot includes a control system (not shown in the figure) and a body 1. The body 1 includes a head mechanism 2, an upper limb mechanism 3, a waist mechanism 6, an upper arm mechanism 9, a forearm mechanism 14, a hand mechanism 18, a hip mechanism 22, a thigh mechanism 24, a lower leg mechanism 28, and a foot mechanism 32. The head mechanism 2 is located on the upper part of the upper limb mechanism 3. There are two upper arm mechanisms 9, which are respectively located on both sides of the upper limb mechanism 3. Each upper arm mechanism 9 has a forearm mechanism 14 at its lower end, and the lower end of the forearm mechanism 14 is connected to the hand mechanism 18. The waist mechanism 6 and the hip mechanism 22 are arranged sequentially from top to bottom on the lower part of the upper limb mechanism 3. There are two thigh mechanisms 24, which are spaced apart on the lower part of the hip mechanism 22. Each thigh mechanism 24 has a lower leg mechanism 28 at its lower end, and the lower end of the lower leg mechanism 28 is connected to the foot mechanism 32.

[0062] The head mechanism 2 is a square box structure with two cameras on it as "eyes" to collect environmental images for navigation. The head is equipped with a speaker as a "mouth", a laser navigation device, and a recording device.

[0063] The upper limb mechanism 3 includes an upper chest box 81 and a lower chest box 82. The upper chest box 81 is a space box between the left and right shoulder joints, which houses the humanoid robot's control system. The lower chest box 82 houses the battery, which provides power to the humanoid robot.

[0064] Let the length direction of the upper limb mechanism 3 be the Y-axis direction, and the width direction of the upper limb mechanism 3 be the X-axis direction.

[0065] A first swing mechanism and a first planar rotation mechanism are provided between the upper arm mechanism 9 and the upper limb mechanism 3, allowing the upper arm mechanism 9 to move relative to the upper limb mechanism 3 in three directions (X, Y, and Z). A second swing mechanism is provided between the forearm mechanism 14 and the upper arm mechanism 9, allowing the forearm mechanism 14 to move relative to the upper arm mechanism 9 in two directions (X and Z). A third swing mechanism is provided between the hand mechanism 18 and the forearm mechanism 14, allowing the hand mechanism 18 to move relative to the forearm mechanism 14 in two directions (X and Z). The waist mechanism 6 includes a waist support 7 and a waist swing housing 8. The waist swing housing 8 is rotatably connected to the waist support 7 along an axis parallel to the y-axis. The waist support 7 can swing relative to the front and rear ends of the waist swing housing 8. The waist swing housing 8 is rotatably connected to the lower end of the upper limb mechanism 3 around a vertical axis. The waist swing housing 8 can axially move relative to the lower end of the upper limb mechanism 3. Rotation; a fourth swing mechanism and a second planar rotation mechanism are provided between the waist support 7 and the upper limb mechanism 3. The fourth swing mechanism and the second planar rotation mechanism drive the waist support 7 and the waist swing housing 8 to rotate, so that the upper limb mechanism 3 can move relative to the waist support 7 in three directions (X, Y, and Z); the hip mechanism 22 is fixedly connected to the lower end of the waist support 7; a fifth swing mechanism and a third planar rotation mechanism are provided between the thigh mechanism 24 and the hip mechanism 22, so that the thigh mechanism 24 can move relative to the hip mechanism 22 in three directions (X, Y, and Z); a sixth swing mechanism is provided between the thigh mechanism 24 and the calf mechanism 28, so that the calf mechanism 28 can move relative to the thigh mechanism 24 in two directions (X and Z); a seventh swing mechanism is provided between the calf mechanism 28 and the foot mechanism 32, so that the foot mechanism 32 can move relative to the calf mechanism 28 in two directions (X and Z).

[0066] The lower end of the upper limb mechanism 3 is provided with a waist connecting base 4; the fourth swing mechanism and the second plane rotation mechanism are set on the waist connecting base 4. The fourth swing mechanism is connected to the waist support 7, and the second plane rotation mechanism is connected to the waist swing housing 8.

[0067] Furthermore, the hip mechanism 22 is provided with a hip support 23, which is fixedly connected to the lower end of the waist support 7;

[0068] The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip support 23 and are connected to the thigh mechanism 24 via transmission.

[0069] Furthermore, the hip mechanism 22 is provided with a hip support 23, which is fixedly connected to the lower end of the waist support 7;

[0070] The thigh mechanism 24 includes a thigh swing housing 25, a thigh support 26, and a thigh rotation joint 27. The thigh rotation joint 27 is located at the lower end of the thigh support 26. The thigh swing housing 25 is rotatably connected to the thigh support 26 about an axis parallel to the y-axis. The thigh support 26 can swing relative to the front and rear ends of the thigh swing housing 25. The thigh swing housing 25 is rotatably connected to the buttock support 23 about a vertical axis. The thigh swing housing 25 can rotate axially relative to the buttock support 23.

[0071] The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip support 23 and are respectively connected to the hip swing housing 25 and the hip support 26 for transmission.

[0072] Furthermore, the lower leg mechanism 28 includes a knee swing housing 29, a knee support 30, and a lower leg rotation joint 31. The lower leg rotation joint 31 is located at the lower end of the knee support 30. The knee swing housing 29 is fixedly connected to the thigh mechanism 24. The knee support 30 is rotatably connected to the knee swing housing 29 around an axis parallel to the y-axis. The knee support 30 can swing relative to the front and rear ends of the knee swing housing 29.

[0073] The sixth swing mechanism is mounted on the thigh mechanism 24 and is connected to the knee support 30 via a transmission.

[0074] Furthermore, the foot mechanism 32 includes an ankle swing housing 33, an ankle support 34, and a foot component 35. The ankle swing housing 33 is fixedly connected to the lower leg mechanism 28. The ankle support 34 is rotatably connected to the ankle swing housing 33 about an axis parallel to the y-axis. The ankle support 34 can swing relative to the front and rear ends of the ankle swing housing 33. The foot component 35 is located at the lower end of the ankle support 34.

[0075] The seventh swing mechanism is mounted on the lower leg mechanism 28 and is connected to the ankle support 34 via a transmission.

[0076] Furthermore, the foot component 35 includes a foot support 36, a floating base 37, and an elastic element 38;

[0077] The floating base 37 is located below the foot support 36 and is spaced apart from the foot support 36. The floating base 37 and the foot support 36 are vertically movably connected (in this embodiment, the floating base 37 and the foot support 36 are movably connected by a pin).

[0078] The elastic element 38 is disposed between the floating base 37 and the foot support 36.

[0079] Furthermore, the lower end of the floating base 37 is provided with an elastic support member 80.

[0080] The foot component 35, with the above-mentioned configuration, has a certain cushioning capacity. On the one hand, since there is a difference between the left and right halves of the humanoid robot's body, this configuration of the foot component 35 can achieve dynamic balance between the left and right halves of the humanoid robot's body, improving the stability of the humanoid robot's movement. On the other hand, since the humanoid robot needs to adapt to different ground scenarios, the foot component 35 can enable the humanoid robot to adapt to different ground scenarios. At the same time, since the humanoid robot's body 1 needs to achieve dynamic balance when moving, the foot component 35 can ensure that the lower part of the body 1 is in a better stable state during movement.

[0081] Furthermore, several elastic elements 38 are provided; a floating connecting seat 39 is provided at the lower center of the foot support 36, and the middle part of the floating base 37 is hinged to the floating connecting seat 39, with several elastic elements 38 arranged around the floating connecting seat 39; or, a floating connecting seat 39 is provided at the upper center of the floating base 37, and the middle part of the foot support 36 is hinged to the floating connecting seat 39, with several elastic elements 38 arranged around the floating connecting seat 39.

[0082] The floating connector 39 enables the foot support 36 and the floating base 37 to swing back and forth around the floating connector 39, allowing the foot component 35 to dynamically adjust to a predetermined posture to achieve an adaptive effect, thereby improving the support effect of the foot component 35 and thus improving the stability of the body 1.

[0083] The foot mechanism 32 supports the weight of the entire humanoid robot, and the foot component 35 contacts the ground. Since the elastic support component 80 is made of elastic material, it can buffer the vibration of the humanoid robot when walking and the uneven terrain. When the humanoid robot moves forward, the body leans forward and the center of gravity of the body leans forward. The foot component 35 also changes accordingly with the change of body position.

[0084] The foot component 35 rotates and deforms around the floating connecting seat 39, generating a downward pressure on the floating base 37. An elastic element 38, positioned in the space before and after the floating connecting seat 39, absorbs this pressure deformation. The floating base 37 and the foot supporting component 36 are vertically and movably connected, adapting to the deformation of the elastic element 38 at any time to ensure the humanoid robot walks smoothly.

[0085] Furthermore, the upper limb mechanism 3 is provided with an upper arm connecting base 5 on its side;

[0086] The upper arm mechanism 9 includes a shoulder swing housing 10, a shoulder support 11, a shoulder joint 12, and an upper arm rotation joint 13. The shoulder joint 12 is connected to the upper end of the upper arm rotation joint 13 and is located at the lower end of the shoulder support 11. The shoulder swing housing 10 is rotatably connected to the shoulder support 11 about an axis parallel to the x-axis. The shoulder support 11 is axially rotatable relative to the shoulder swing housing 10. The shoulder swing housing 10 is rotatably connected to the upper arm connecting base 5 about an axis parallel to the y-axis. The shoulder swing housing 10 is axially rotatable relative to the upper arm connecting base 5.

[0087] The first swing mechanism and the first planar rotation mechanism are mounted on the upper arm connecting base 5 and are respectively connected to the shoulder swing housing 10 and the shoulder bracket 11 for transmission.

[0088] The upper arm rotation joint 13 has an upper arm rotation motor 78 built into its upper part. The output end of the upper arm rotation motor 78 is fixedly connected to the shoulder joint 12. The upper arm rotation motor 78 is used to drive the upper arm rotation joint 13 to rotate relative to the shoulder joint 12 along the axis of the length direction of the upper arm rotation joint 13.

[0089] Furthermore, the forearm mechanism 14 includes an elbow swing housing 15, an elbow support 16, and a forearm rotation joint 17. The forearm rotation joint 17 is located at the lower end of the elbow support 16. The elbow swing housing 15 is fixedly connected to the upper arm mechanism 9. The elbow support 16 is rotatably connected to the elbow swing housing 15 around an axis parallel to the y-axis. The elbow support 16 can swing relative to the front and rear ends of the elbow swing housing 15.

[0090] The second swing mechanism is located at the lower end of the upper arm mechanism 9 and is connected to the elbow support 16 via a transmission.

[0091] The forearm rotation joint 17 has a built-in forearm rotation motor 79 on its upper part. The output end of the forearm rotation motor 79 is fixedly connected to the elbow support 16. The forearm rotation motor 79 is used to drive the forearm rotation joint 17 to rotate relative to the elbow support 16 along the axis of the length direction of the forearm rotation joint 17.

[0092] Furthermore, the hand mechanism 18 includes a wrist swing housing 19, a wrist support 20, and a palm component 21. The palm component 21 is disposed at the lower end of the wrist support 20. The wrist swing housing 19 is fixedly connected to the lower end of the forearm mechanism 14. The wrist support 20 is rotatably connected to the wrist swing housing 19 about an axis parallel to the y-axis. The wrist support 20 can swing relative to the front and rear ends of the wrist swing housing 19.

[0093] The third swing mechanism is located at the lower end of the forearm mechanism 14 and is connected to the wrist support 20 via a transmission.

[0094] In this design, the connections between the components are made by using component brackets and component swing housings connected by a horizontal / vertical axis. This cross structure allows each component to have a large degree of mobility, enabling the humanoid robot to have a large range of motion to achieve complex actions. At the same time, the cross structure has strong connection strength, thereby extending the structural strength of the connection between the components and avoiding affecting the humanoid robot's movement.

[0095] In this embodiment, the palm component 21 can be a multi-jointed movable finger, an L-shaped component, an irregularly shaped palm, etc., which are applications of existing technology and will not be described in detail here.

[0096] The structures of the swing mechanism and the planar rotation mechanism in this embodiment are as follows:

[0097] The first swing mechanism includes a first motor 40, a first drive shaft 41, and a first swing drive gear 42. The first motor 40 is located on the side of the upper arm connecting base 5 facing the inner cavity of the upper limb mechanism 3. The output end of the first motor 40 is inserted into the inner cavity of the upper arm connecting base 5. The first drive shaft 41 is inserted into the shoulder swing housing 10 from the inner cavity of the upper arm connecting base 5. The first swing drive gear 42 is rotatably disposed in the upper arm connecting base 5. The first swing drive gear 42 is fixedly connected to the first drive shaft 41. The first motor 40 is used to drive the first swing drive gear 42 to rotate. The shoulder bracket 11 is connected to the shoulder swing housing 10 through the first swing shaft 61. The first swing shaft 61 and the first drive shaft 41 are connected by bevel gears 76 respectively disposed on them.

[0098] The first planar rotation mechanism includes a first rotary motor 68 and a first rotary drive gear 69. The first rotary motor 68 is located on the side of the upper arm connecting base 5 facing the inner cavity of the upper limb mechanism 3. The output end of the first rotary motor 68 is inserted into the inner cavity of the upper arm connecting base 5. The first rotary drive gear 69 is rotatably disposed in the upper arm connecting base 5. The first rotary drive gear 69 is fixedly connected to the shoulder swing housing 10. The first rotary motor 68 is used to drive the first rotary drive gear 69 to rotate.

[0099] The output ends of the first motor 40 and the first rotary motor 68 are equipped with steering gears 77; the first oscillating drive gear 42 and the first rotary drive gear 69 are coaxially offset.

[0100] The second swing mechanism includes a second motor 43 and a second drive shaft 44. The second motor 43 is located inside the upper arm rotation joint 13. The output end of the second motor 43 is connected to the second drive shaft 44. The second drive shaft 44 is inserted into the elbow swing housing 15. The elbow support 16 is connected to the elbow swing housing 15 through the second swing shaft 62. The second swing shaft 62 and the second drive shaft 44 are connected by bevel gears 76 respectively provided on them.

[0101] The third swing mechanism includes a third motor 46 and a third drive shaft 47. The third motor 46 is located inside the forearm rotation joint 17. The output end of the third motor 46 is connected to the third drive shaft 47. The third drive shaft 47 is inserted into the wrist swing housing 19. The wrist support 20 is connected to the wrist swing housing 19 through the third swing shaft 63. The third swing shaft 63 and the third drive shaft 47 are connected by bevel gears 76 respectively provided on them.

[0102] The fourth swing mechanism includes a fourth motor 49, a fourth drive shaft 50, and a fourth swing drive gear 51. The fourth motor 49 is located on the side of the waist connecting base 4 away from the upper limb mechanism 3. The output end of the fourth motor 49 is inserted into the inner cavity of the waist connecting base 4. The fourth drive shaft 50 is inserted into the waist swing housing 8 from the inner cavity of the waist connecting base 4. The fourth swing drive gear 51 is rotatably disposed in the waist connecting base 4. The fourth swing drive gear 51 is fixedly connected to the fourth drive shaft 50. The fourth motor 49 is used to drive the fourth swing drive gear 51 to rotate. The waist support 7 is connected to the waist swing housing 8 through the fourth swing shaft 64. The fourth swing shaft 64 and the fourth drive shaft 50 are connected by bevel gears 76 respectively disposed on them.

[0103] The second planar rotation mechanism includes a second rotary motor 71 and a second rotary drive gear 72. The second rotary motor 71 is located on the side of the waist connecting base 4 away from the upper limb mechanism 3. The output end of the second rotary motor 71 is inserted into the inner cavity of the waist connecting base 4. The second rotary drive gear 72 is rotatably disposed in the waist connecting base 4. The second rotary drive gear 72 is fixedly connected to the waist swing housing 8. The second rotary motor 71 is used to drive the second rotary drive gear 72 to rotate.

[0104] The output end of the fourth motor 49 and the second rotary motor 71 is provided with a steering gear 77; the fourth swing drive gear 51 and the second rotary drive gear 72 are coaxially offset.

[0105] The fifth swing mechanism includes a fifth motor 52, a fifth drive shaft 53, and a fifth swing drive gear 54. The fifth motor 52 is located on the upper part of the hip support 23, and the output end of the fifth motor 52 is inserted into the lower part of the hip support 23. The fifth drive shaft 53 is inserted into the thigh swing housing 25 from the lower part of the hip support 23. The fifth swing drive gear 54 is rotatably arranged on the lower part of the hip support 23 and is fixedly connected to the fifth drive shaft 53. The fifth motor 52 is used to drive the fifth swing drive gear 54 to rotate. The thigh support 26 is connected to the thigh swing housing 25 through the fifth swing shaft 65. The fifth swing shaft 65 and the fifth drive shaft 53 are connected by bevel gears 76 respectively arranged on them.

[0106] The third planar rotation mechanism includes a third rotary motor 74 and a third rotary drive gear 75. The third rotary motor 74 is located on the upper part of the hip support 23, and the output end of the third rotary motor 74 is inserted into the lower part of the hip support 23. The third rotary drive gear 75 is rotatably disposed on the lower part of the hip support 23 and is fixedly connected to the thigh swing housing 25. The third rotary motor 74 is used to drive the third rotary drive gear 75 to rotate.

[0107] The output ends of the fourth motor 49 and the third rotary motor 74 are equipped with steering gears 77; the fourth oscillating drive gear 51 and the third rotary drive gear 75 are coaxially offset.

[0108] The sixth swing mechanism includes a sixth motor 55 and a sixth drive shaft 56. The sixth motor 55 is located inside the thigh rotation joint 27. The output end of the sixth motor 55 is connected to the sixth drive shaft 56. The sixth drive shaft 56 is inserted into the knee swing housing 29. The knee support 30 is connected to the knee swing housing 29 through the sixth swing shaft 66. The sixth swing shaft 66 and the sixth drive shaft 56 are connected by bevel gears 76 respectively provided on them.

[0109] The seventh swing mechanism includes a seventh motor 58 and a seventh drive shaft 59. The seventh motor 58 is located inside the lower leg rotation joint 31. The output end of the seventh motor 58 is connected to the seventh drive shaft 59. The seventh drive shaft 59 is inserted into the ankle swing housing 33. The ankle support 34 is connected to the ankle swing housing 33 through the seventh swing shaft 67. The seventh swing shaft 67 and the seventh drive shaft 59 are connected by bevel gears 76 respectively provided on them.

[0110] Compared with the prior art, the novel humanoid robot of this utility model has the following beneficial effects:

[0111] (1) The humanoid robot in this solution is structurally similar to a human, with a head mechanism 2, an upper limb mechanism 3, a waist mechanism 6, an upper arm mechanism 9, a forearm mechanism 14, a hand mechanism 18, a hip mechanism 22, a thigh mechanism 24, a lower leg mechanism 28, and a foot mechanism 32. This makes it easier for third-party personnel to perform secondary shape design based on this framework, making it closer to a humanoid shape, reducing product development costs. Furthermore, humanoid robots with the same framework can achieve component compatibility, thereby reducing product maintenance costs.

[0112] (2) In this scheme, a swing mechanism and / or a planar rotation mechanism are set between the upper limb mechanism 3, waist mechanism 6, upper arm mechanism 9, forearm mechanism 14, hand mechanism 18, hip mechanism 22, thigh mechanism 24, lower leg mechanism 28 and foot mechanism 32, so that the connecting joints of each component can realize movement in the XZ direction or movement in the XYZ direction (realizing the up and down swing of the arm / leg, the forward and backward swing of the arm / leg, the axial rotation of the arm / leg along the length direction, the joint position flipping, the rotation of the waist and the forward and backward swing, etc.). The design is simple, and by utilizing the superposition of the swing mechanism and the planar rotation mechanism between each component, the humanoid robot can complete complex actions. The design is ingenious, the scheme for driving joint movement is simple, efficient and reliable, and can better imitate the many degrees of freedom that humans need to achieve in expressing actions.

[0113] (3) In this scheme, the seven swing mechanisms are all designed to achieve relative back-and-forth swing between two parts, so that the seven swing mechanisms can be designed to have the same structure (only the power output is different). The three planar rotation mechanisms are all designed to achieve relative axial rotation between two parts, and the three planar rotation mechanisms are also designed to have the same structure (only the power output is different), thereby improving the versatility of parts and simplifying the structure of the machine body 1.

[0114] (4) In this solution, the seven front and rear swinging mechanisms and the three planar rotation mechanisms are all hidden inside each component, which makes it easier to reduce the space occupied by the humanoid robot, improve the aesthetics of the humanoid robot, ensure that the humanoid robot meets the requirements of humanoidness, and is small in size and low in cost to meet the needs of industrial-grade industrialization applications.

[0115] (5) The humanoid robot of this solution completely solves the technical defects and problems of existing humanoid robots, such as numerous drive motors, non-compact structure, large joint volume, small load, high production cost, inconvenient maintenance, and short maintenance cycle.

[0116] Based on the disclosure and teachings of the above specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to this utility model should also fall within the protection scope of the claims of this utility model. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on this utility model.

Claims

1. A novel humanoid robot, comprising a control system and a body, the body including a head mechanism, an upper limb mechanism, a waist mechanism, an upper arm mechanism, a forearm mechanism, a hand mechanism, a hip mechanism, a thigh mechanism, a lower leg mechanism, and a foot mechanism. The head mechanism is located above the upper limb mechanism. Two upper arm mechanisms are provided, each located on one side of the upper limb mechanism. Each upper arm mechanism has a forearm mechanism at its lower end, and the lower end of each forearm mechanism is connected to a hand mechanism. The waist mechanism and hip mechanism are sequentially arranged from top to bottom below the upper limb mechanism. Two thigh mechanisms are provided, spaced apart below the hip mechanism. Each thigh mechanism has a lower leg mechanism at its lower end, and the lower end of each lower leg mechanism is connected to a foot mechanism. The robot is characterized in that… Let the length direction of the upper limb mechanism be the Y-axis direction, and the width direction of the upper limb mechanism be the X-axis direction; A first swing mechanism and a first planar rotation mechanism are provided between the upper arm mechanism and the upper limb mechanism, so that the upper arm mechanism can move relative to the upper limb mechanism in the XYZ directions. A second swing mechanism is provided between the forearm mechanism and the upper arm mechanism, allowing the forearm mechanism to move relative to the upper arm mechanism in both the X and Z directions. A third swing mechanism is provided between the hand mechanism and the forearm mechanism, allowing the hand mechanism to move relative to the forearm mechanism in both the X and Z directions; A fourth swing mechanism and a second planar rotation mechanism are provided between the waist mechanism and the upper limb mechanism, so that the upper limb mechanism can move in the XYZ directions relative to the waist support. The hip mechanism is fixedly connected to the waist mechanism; A fifth swing mechanism and a third planar rotation mechanism are provided between the thigh mechanism and the hip mechanism, so that the thigh mechanism can move relative to the hip mechanism in the XYZ directions. A sixth swing mechanism is provided between the thigh mechanism and the lower leg mechanism, which allows the lower leg mechanism to move relative to the thigh mechanism in both the X and Z directions. A seventh swing mechanism is provided between the lower leg mechanism and the foot mechanism, allowing the foot mechanism to move relative to the lower leg mechanism in both the X and Z directions.

2. The novel humanoid robot according to claim 1, characterized in that, The lower end of the upper limb mechanism is equipped with a waist connection base; The waist mechanism includes a waist support and a waist swing housing. The waist swing housing is rotatably connected to the waist support along an axis parallel to the y-axis. The waist support can swing relative to the front and rear ends of the waist swing housing. The waist swing housing can be rotatably connected to the waist connecting base around a vertical axis. The waist swing housing can rotate axially relative to the waist connecting base. The fourth swing mechanism and the second planar rotation mechanism are mounted on the waist connecting base and are respectively connected to the waist support and the waist swing housing.

3. The novel humanoid robot according to claim 1, characterized in that, The hip mechanism is equipped with a hip support, which is fixedly connected to the lower end of the waist mechanism; The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip support and are connected to the thigh mechanism via transmission.

4. A novel humanoid robot according to claim 1, characterized in that, The upper limb mechanism is equipped with an upper arm connecting base on its side; The upper arm mechanism includes a shoulder swing housing, a shoulder support, a shoulder joint, and an upper arm rotation joint. The shoulder joint is connected to the upper end of the upper arm rotation joint and is located at the lower end of the shoulder support. The shoulder swing housing is rotatably connected to the shoulder support about an axis parallel to the x-axis. The shoulder support is axially rotatable relative to the shoulder swing housing. The shoulder swing housing is rotatably connected to the upper arm connecting base about an axis parallel to the y-axis. The shoulder swing housing is axially rotatable relative to the upper arm connecting base. The first swing mechanism and the first planar rotation mechanism are mounted on the upper arm connecting base and are respectively connected to the shoulder swing housing and the shoulder bracket for transmission.

5. A novel humanoid robot according to any one of claims 1 to 4, characterized in that, The forearm mechanism includes an elbow swing housing, an elbow support, and a forearm rotation joint. The forearm rotation joint is located at the lower end of the elbow support. The elbow swing housing is fixedly connected to the upper arm mechanism. The elbow support is rotatably connected to the elbow swing housing around an axis parallel to the y-axis. The elbow support can swing relative to the front and rear ends of the elbow swing housing. The second swing mechanism is located at the lower end of the upper arm mechanism and is connected to the elbow support via a transmission.

6. A novel humanoid robot according to claim 1, characterized in that, The hand mechanism includes a wrist swing housing, a wrist support, and a palm component. The palm component is located at the lower end of the wrist support. The wrist swing housing is fixedly connected to the lower end of the forearm mechanism. The wrist support is rotatably connected to the wrist swing housing around an axis parallel to the y-axis. The wrist support can swing relative to the front and rear ends of the wrist swing housing. The third swing mechanism is located at the lower end of the forearm mechanism and is connected to the wrist support via a transmission.

7. A novel humanoid robot according to claim 1, characterized in that, The thigh mechanism includes a thigh swinging mechanism, a thigh support, and a thigh rotation joint. The thigh rotation joint is located at the lower end of the thigh support. The thigh swinging mechanism is rotatably connected to the thigh support about an axis parallel to the y-axis. The thigh support can swing relative to the front and rear ends of the thigh swinging mechanism. The thigh swinging mechanism is rotatably connected to the hip mechanism about a vertical axis. The thigh swinging mechanism can rotate axially relative to the hip mechanism. The fifth swing mechanism and the third planar rotation mechanism are mounted on the hip mechanism and are respectively connected to the hip swing housing and the hip support for transmission.

8. A novel humanoid robot according to claim 1, characterized in that, The lower leg mechanism includes a knee swing housing, a knee support, and a lower leg rotation joint. The lower leg rotation joint is located at the lower end of the knee support. The knee swing housing is fixedly connected to the thigh mechanism. The knee support is rotatably connected to the knee swing housing around an axis parallel to the y-axis. The knee support can swing relative to the front and rear ends of the knee swing housing. The sixth swing mechanism is mounted on the thigh mechanism and is connected to the knee support via a transmission.

9. A novel humanoid robot according to claim 1, characterized in that, The foot mechanism includes an ankle swing housing, an ankle support, and foot components. The ankle swing housing is fixedly connected to the lower leg mechanism. The ankle support is rotatably connected to the ankle swing housing about an axis parallel to the y-axis. The ankle support can swing relative to the front and rear ends of the ankle swing housing. The foot components are located at the lower end of the ankle support. The seventh swing mechanism is mounted on the lower leg mechanism and is connected to the ankle support via a transmission.

10. A novel humanoid robot according to claim 9, characterized in that, The foot components include foot support, floating base, and elastic elements; The floating base is located below the foot support and is spaced apart from the foot support. The floating base and the foot support are vertically movably connected. The elastic element is disposed between the floating base and the foot support.

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